Computed torque control of articulated multibody systems in the generalized divide and conquer algorithm framework

Cameron Kingsley, Mohammad Poursina

Research output: Chapter in Book/Report/Conference proceedingConference contribution

2 Citations (Scopus)

Abstract

An extension to the Generalized-Divide-And-Conquer Algorithm (GDCA) is presented in this paper in conjunction with the Computed-Torque-Control-Law (CTCL) to model and control fully actuated multibody systems. CTCL uses the inverse dynamics to provide control inputs to the system while, the dynamics of the system must be formed and solved in each iteration. Herein, the GDCA is extended to form and solve the inverse dynamics to find control torques. Further, this method is also extended to efficiently solve the equations of motion of the controlled system. This significantly reduces the complexity of modeling, simulating, and controlling the fully actuated multibody systems to O(n) or O(logn) operations in each iteration in the serial and parallel implementations, respectively.

Original languageEnglish (US)
Title of host publication27th Conference on Mechanical Vibration and Noise
PublisherAmerican Society of Mechanical Engineers (ASME)
Volume8
DOIs
StatePublished - 2015
EventASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015 - Boston, United States
Duration: Aug 2 2015Aug 5 2015

Other

OtherASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015
CountryUnited States
CityBoston
Period8/2/158/5/15

Fingerprint

Divide-and-conquer Algorithm
Multibody Systems
Torque control
Torque
Inverse Dynamics
Equations of motion
Iteration
Parallel Implementation
Equations of Motion
Framework
Modeling

ASJC Scopus subject areas

  • Modeling and Simulation
  • Mechanical Engineering
  • Computer Science Applications
  • Computer Graphics and Computer-Aided Design

Cite this

Kingsley, C., & Poursina, M. (2015). Computed torque control of articulated multibody systems in the generalized divide and conquer algorithm framework. In 27th Conference on Mechanical Vibration and Noise (Vol. 8). American Society of Mechanical Engineers (ASME). https://doi.org/10.1115/DETC201546853

Computed torque control of articulated multibody systems in the generalized divide and conquer algorithm framework. / Kingsley, Cameron; Poursina, Mohammad.

27th Conference on Mechanical Vibration and Noise. Vol. 8 American Society of Mechanical Engineers (ASME), 2015.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kingsley, C & Poursina, M 2015, Computed torque control of articulated multibody systems in the generalized divide and conquer algorithm framework. in 27th Conference on Mechanical Vibration and Noise. vol. 8, American Society of Mechanical Engineers (ASME), ASME 2015 International Design Engineering Technical Conferences and Computers and Information in Engineering Conference, IDETC/CIE 2015, Boston, United States, 8/2/15. https://doi.org/10.1115/DETC201546853
Kingsley C, Poursina M. Computed torque control of articulated multibody systems in the generalized divide and conquer algorithm framework. In 27th Conference on Mechanical Vibration and Noise. Vol. 8. American Society of Mechanical Engineers (ASME). 2015 https://doi.org/10.1115/DETC201546853
Kingsley, Cameron ; Poursina, Mohammad. / Computed torque control of articulated multibody systems in the generalized divide and conquer algorithm framework. 27th Conference on Mechanical Vibration and Noise. Vol. 8 American Society of Mechanical Engineers (ASME), 2015.
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